PAW_Sensor: This library control the PAW sensor. This library get sensor values from the PAW sensor, and send these values to PC through serial-communication. And you need to convert these values to delta h using some module on PC. I create sample python module for this library. If you want to get this module, please access below page, https://github.com/HiroakiMatsuda/PAW-Sensor The PAW Sensor is developed by RT. If you need to get information about this sensors, please access below page. http://www.rt-shop.jp/index.php?main_page=product_info&cPath=42&products_id=1303
Dependents: PAW_Sensor_HelloWorld
paw.cpp@3:dfebf4e43c63, 2014-11-09 (annotated)
- Committer:
- matsu
- Date:
- Sun Nov 09 11:40:29 2014 +0000
- Revision:
- 3:dfebf4e43c63
- Parent:
- 1:6ec3794072de
Add id parameter to print().
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
matsu | 0:ebd7c54059ae | 1 | #include "paw.h" |
matsu | 0:ebd7c54059ae | 2 | |
matsu | 0:ebd7c54059ae | 3 | PAW::PAW( PinName led_1, PinName led_2, PinName photo_1, PinName photo_2 ): |
matsu | 0:ebd7c54059ae | 4 | _led_1( led_1 ), _led_2( led_2 ), _photo_1( photo_1 ), _photo_2( photo_2 ){ |
matsu | 0:ebd7c54059ae | 5 | |
matsu | 0:ebd7c54059ae | 6 | _led_1 = 0; |
matsu | 0:ebd7c54059ae | 7 | _led_2 = 0; |
matsu | 0:ebd7c54059ae | 8 | _state = STATE_1; |
matsu | 0:ebd7c54059ae | 9 | } |
matsu | 0:ebd7c54059ae | 10 | |
matsu | 0:ebd7c54059ae | 11 | unsigned char PAW::process_paw() |
matsu | 0:ebd7c54059ae | 12 | { |
matsu | 0:ebd7c54059ae | 13 | switch( _state ) |
matsu | 0:ebd7c54059ae | 14 | { |
matsu | 0:ebd7c54059ae | 15 | case STATE_1: |
matsu | 0:ebd7c54059ae | 16 | _value.initial_photo_1 = _photo_1.read_u16(); |
matsu | 0:ebd7c54059ae | 17 | _value.initial_photo_2 = _photo_2.read_u16(); |
matsu | 0:ebd7c54059ae | 18 | _led_1 = 1; |
matsu | 0:ebd7c54059ae | 19 | |
matsu | 0:ebd7c54059ae | 20 | _state = STATE_2; |
matsu | 0:ebd7c54059ae | 21 | break; |
matsu | 0:ebd7c54059ae | 22 | |
matsu | 0:ebd7c54059ae | 23 | case STATE_2: |
matsu | 0:ebd7c54059ae | 24 | _value.ch_3 = ( _photo_1.read_u16() - _value.initial_photo_1 ) >> 4; |
matsu | 0:ebd7c54059ae | 25 | _value.ch_4 = ( _photo_2.read_u16() - _value.initial_photo_2 ) >> 4; |
matsu | 0:ebd7c54059ae | 26 | _led_1 = 0; |
matsu | 0:ebd7c54059ae | 27 | |
matsu | 0:ebd7c54059ae | 28 | _state = STATE_3; |
matsu | 0:ebd7c54059ae | 29 | break; |
matsu | 0:ebd7c54059ae | 30 | |
matsu | 0:ebd7c54059ae | 31 | case STATE_3: |
matsu | 0:ebd7c54059ae | 32 | _value.initial_photo_1 = _photo_1.read_u16(); |
matsu | 0:ebd7c54059ae | 33 | _value.initial_photo_2 = _photo_2.read_u16(); |
matsu | 0:ebd7c54059ae | 34 | _led_2 = 1; |
matsu | 0:ebd7c54059ae | 35 | |
matsu | 0:ebd7c54059ae | 36 | _state = STATE_4; |
matsu | 0:ebd7c54059ae | 37 | break; |
matsu | 0:ebd7c54059ae | 38 | |
matsu | 0:ebd7c54059ae | 39 | case STATE_4: |
matsu | 0:ebd7c54059ae | 40 | _value.ch_2 = ( _photo_1.read_u16() - _value.initial_photo_2 ) >> 4; |
matsu | 0:ebd7c54059ae | 41 | _value.ch_1 = ( _photo_2.read_u16() - _value.initial_photo_1 ) >> 4; |
matsu | 0:ebd7c54059ae | 42 | _led_2 = 0; |
matsu | 0:ebd7c54059ae | 43 | |
matsu | 0:ebd7c54059ae | 44 | _state = STATE_1; |
matsu | 0:ebd7c54059ae | 45 | break; |
matsu | 0:ebd7c54059ae | 46 | } |
matsu | 0:ebd7c54059ae | 47 | |
matsu | 0:ebd7c54059ae | 48 | return _state; |
matsu | 0:ebd7c54059ae | 49 | } |
matsu | 0:ebd7c54059ae | 50 | |
matsu | 0:ebd7c54059ae | 51 | paw_value PAW::get_value() |
matsu | 0:ebd7c54059ae | 52 | { |
matsu | 0:ebd7c54059ae | 53 | return _value; |
matsu | 0:ebd7c54059ae | 54 | } |
matsu | 0:ebd7c54059ae | 55 | |
matsu | 0:ebd7c54059ae | 56 | bool PAW::get_state() |
matsu | 0:ebd7c54059ae | 57 | { |
matsu | 0:ebd7c54059ae | 58 | return _state; |
matsu | 0:ebd7c54059ae | 59 | } |
matsu | 0:ebd7c54059ae | 60 | |
matsu | 3:dfebf4e43c63 | 61 | void PAW::print( Serial* pc, unsigned char id ) |
matsu | 0:ebd7c54059ae | 62 | { |
matsu | 3:dfebf4e43c63 | 63 | pc->printf("%c%c%c%c%c%c%c%c%c%c%c", 0xFA, 0xAF, id, |
matsu | 3:dfebf4e43c63 | 64 | _value.ch_1 & 0x00FF, ( _value.ch_1 & 0xFF00 ) >> 8, |
matsu | 3:dfebf4e43c63 | 65 | _value.ch_2 & 0x00FF, ( _value.ch_2 & 0xFF00 ) >> 8, |
matsu | 3:dfebf4e43c63 | 66 | _value.ch_3 & 0x00FF, ( _value.ch_3 & 0xFF00 ) >> 8, |
matsu | 3:dfebf4e43c63 | 67 | _value.ch_4 & 0x00FF, ( _value.ch_4 & 0xFF00 ) >> 8); |
matsu | 0:ebd7c54059ae | 68 | } |
matsu | 0:ebd7c54059ae | 69 |